stepper: Default to a high direction pin meaning positive direction

Invert the default meaning of the stepper direction pin.  Instead of
treating a low value as position motion, treat a high value as
positive motion.  This matches what other firmwares do, and it matches
what common stepper motor drivers document.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

5 files changed, 14 insertions, 14 deletions

diff --git a/config/example.cfg b/config/example.cfg
index ec383d75..a8f7aee4 100644
--- a/config/example.cfg
+++ b/config/example.cfg
@@ -19,8 +19,8 @@
 [stepper_x]
 step_pin: ar29
 #   Step GPIO pin (triggered high)
-dir_pin: ar28
-#   Direction GPIO pin (low indicates positive direction)
+dir_pin: !ar28
+#   Direction GPIO pin (high indicates positive direction)
 enable_pin: !ar25
 #   Enable pin (default is enable high; use ! to indicate enable low)
 step_distance: .0225
@@ -86,7 +86,7 @@ position_max: 200
 # stepper_x section
 [stepper_z]
 step_pin: ar23
-dir_pin: ar22
+dir_pin: !ar22
 enable_pin: !ar25
 step_distance: .005
 max_velocity: 250
diff --git a/config/makergear-m2-2012.cfg b/config/makergear-m2-2012.cfg
index 1db7ee1b..5634c580 100644
--- a/config/makergear-m2-2012.cfg
+++ b/config/makergear-m2-2012.cfg
@@ -5,7 +5,7 @@
 
 [stepper_x]
 step_pin: PC0
-dir_pin: PL1
+dir_pin: !PL1
 enable_pin: !PA7
 step_distance: .0225
 max_velocity: 500
@@ -20,7 +20,7 @@ position_max: 200
 
 [stepper_y]
 step_pin: PC1
-dir_pin: !PL0
+dir_pin: PL0
 enable_pin: !PA6
 step_distance: .0225
 max_velocity: 500
@@ -35,7 +35,7 @@ position_max: 250
 
 [stepper_z]
 step_pin: PC2
-dir_pin: PL2
+dir_pin: !PL2
 enable_pin: !PA5
 step_distance: .005
 max_velocity: 250
@@ -51,7 +51,7 @@ position_max: 200
 
 [extruder]
 step_pin: PC3
-dir_pin: !PL6
+dir_pin: PL6
 enable_pin: !PA4
 step_distance: .004242
 max_velocity: 200000
diff --git a/klippy/cartesian.py b/klippy/cartesian.py
index 16db25d2..0a5f7961 100644
--- a/klippy/cartesian.py
+++ b/klippy/cartesian.py
@@ -105,9 +105,9 @@ class CartKinematics:
             self.stepper_pos[i] = new_step_pos
             steps = move.axes_d[i] * inv_step_dist
             step_offset = step_pos - move.start_pos[i] * inv_step_dist + 0.5
-            sdir = 0
+            sdir = 1
             if steps < 0:
-                sdir = 1
+                sdir = 0
                 steps = -steps
                 step_offset = 1. - step_offset
             mcu_time, so = self.steppers[i].prep_move(move_time, sdir)
diff --git a/klippy/extruder.py b/klippy/extruder.py
index 12f43141..e7f1b40c 100644
--- a/klippy/extruder.py
+++ b/klippy/extruder.py
@@ -97,9 +97,9 @@ class PrinterExtruder:
             steps = forward_d * inv_step_dist
             step_offset = self.stepper_pos - start_pos * inv_step_dist + 0.5
             self.stepper_pos = new_step_pos
-            sdir = 0
+            sdir = 1
             if steps < 0:
-                sdir = 1
+                sdir = 0
                 steps = -steps
                 step_offset = 1. - step_offset
             mcu_time, so = self.stepper.prep_move(move_time, sdir)
@@ -142,7 +142,7 @@ class PrinterExtruder:
             step_offset = start_pos * inv_step_dist - self.stepper_pos + 0.5
             self.stepper_pos = new_step_pos
             mcu_time, so = self.stepper.prep_move(
-                move_time+accel_t+cruise_t+decel_t, 1)
+                move_time+accel_t+cruise_t+decel_t, 0)
 
             move_step_d = retract_d / steps
 
diff --git a/src/stepper.c b/src/stepper.c
index 0ef81904..57b0dd93 100644
--- a/src/stepper.c
+++ b/src/stepper.c
@@ -144,7 +144,7 @@ command_config_stepper(uint32_t *args)
     s->step_pin = gpio_out_setup(args[1], s->flags & SF_INVERT_STEP ? 1 : 0);
     s->dir_pin = gpio_out_setup(args[2], 0);
     s->min_stop_interval = args[3];
-    s->position = STEPPER_POSITION_BIAS;
+    s->position = -STEPPER_POSITION_BIAS;
 }
 DECL_COMMAND(command_config_stepper,
              "config_stepper oid=%c step_pin=%c dir_pin=%c"
@@ -238,7 +238,7 @@ void
 stepper_stop(struct stepper *s)
 {
     sched_del_timer(&s->time);
-    s->position = stepper_get_position(s);
+    s->position = -stepper_get_position(s);
     s->count = 0;
     s->flags &= SF_INVERT_STEP;
     gpio_out_write(s->dir_pin, 0);